Abstract: In response to the problems in the dynamic modeling of the parachute-missile system, where the configuration changes of the parachute are not fully considered, and the parachute model in the fluid-solid coupling is too complex to be directly used for non-linear dynamic analysis, a multi-rigid body dynamic modeling method for the cross-shaped parachute with variable configuration characteristics was proposed for non-linear dynamic analysis. By using a spring connection, a multi-rigid body dynamic model capable of characterizing the variable configuration characteristics of the cross-shaped parachute was constructed. The simulation verified that the constructed dynamic model could reflect the variable configuration characteristics during the movement of the cross-shaped parachute. The calculated normal aerodynamic force of the cross-shaped parachute was consistent with the trend of the normal force when the parachute experienced conical pendulum motion in the wind tunnel test. The non-linear dynamic characteristics of the cross-shaped parachute dynamic system were analyzed. The results show that the system had a limit cycle that caused periodic changes in configuration, and the influencing factors of the system’s limit cycle were analyzed. The relationship between free stream velocity, connection disc diameter, and the limit cycle amplitude of the cross-shaped parachute system was established. This paper provides a theoretical basis for suppressing the non-linear motion of the cross-shaped parachute by adjusting system parameters.